New Results on Interconnection and Damping Assignment Passivity-Based Control
作者单位：Laboratoire des Signaux et SystémesSupelec91192Gif-sur-YvetteFrance
会议名称：《第二十二届中国控制会议》
会议日期：2003年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
关 键 词：Passivity nonlinear systems stabilization passivity-based control Hamiltonian systems.
摘 要：正Interconnection and Damping Assignment Passivity-based Control is a technique which achieves stabilization of nonlinear systems assigning a desired （port-controlled Hamiltonian） structure to the closed-loop. Since the introduction of this controller design methodology four years ago many theoretical extensions and practical applications have been reported in the literature. The theoretical developments include some useful variations and shortcuts that may be introduced when the technique is applied to particular classes of systems and the incorporation of additional features to handle control scenarios other than just stabilization. The purposes of this paper are to collect and present in a unified way some of the new theoretical results and to discuss the current research and future directions.